<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>mrpt::poses::CPointPDFGaussian Class Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1poses.html">poses</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
<a href="#pub-static-attribs">Static Public Attributes</a> |
<a href="#pro-methods">Protected Member Functions</a> </div>
<div class="headertitle">
<div class="title">mrpt::poses::CPointPDFGaussian Class Reference<div class="ingroups"><a class="el" href="group__poses__pdf__grp.html">2D/3D point and pose PDFs</a></div></div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::poses::CPointPDFGaussian" --><!-- doxytag: inherits="mrpt::poses::CPointPDF" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A gaussian distribution for 3D points. </p>
<p>Also a method for bayesian fusion is provided.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x...">CPointPDF</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">mrpt/poses/CPointPDFGaussian.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPointPDFGaussian:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_point_p_d_f_gaussian_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_point_p_d_f_gaussian_inherit__map" id="mrpt_1_1poses_1_1_c_point_p_d_f_gaussian_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x..." alt="" coords="814,29,981,56"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="504,5,669,32"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="65,5,201,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPoint3D, 3 \>" alt="" coords="411,56,762,83"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="6,56,261,83"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1">is_3D_val</a> = 1
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598">is_PDF_val</a> = 1
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">type_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the state the PDF represents. <a href="#ab4d442c6713a2aaac04cf79bee93c251"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a189797e21fb5b8893215644407a463a8">CPointPDFGaussian</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a189797e21fb5b8893215644407a463a8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a1f7260396242ff645b827b7e034bdefb">CPointPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &init_Mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a1f7260396242ff645b827b7e034bdefb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aed249a7293c514586c71e2a65ea08305">CPointPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &init_Mean, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &init_Cov)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aed249a7293c514586c71e2a65ea08305"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ab5174a61e9364b320a82ac26ff8e203e">getMean</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) <a href="#ab5174a61e9364b320a82ac26ff8e203e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a5988bff88667719e545684f5b3f595f8">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">cov</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. <a href="#a5988bff88667719e545684f5b3f595f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ad28b7173e96797d5176b3e8f3af7e036">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#ad28b7173e96797d5176b3e8f3af7e036"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a11016538e64e22dc65b564754bb79219">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. <a href="#a11016538e64e22dc65b564754bb79219"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a3bc1166fd0b684fa3ef6267df5b974c3">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newReferenceBase)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. <a href="#a3bc1166fd0b684fa3ef6267df5b974c3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aa98e2fdff4910ed1ed33d428e39bac4f">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two points gauss. <a href="#aa98e2fdff4910ed1ed33d428e39bac4f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ae5d63203cbfd0a155ffaf1b4850c6897">productIntegralWith</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. <a href="#ae5d63203cbfd0a155ffaf1b4850c6897"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a19bc7c9e2013679cc0ecea3c40b694b3">productIntegralWith2D</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. <a href="#a19bc7c9e2013679cc0ecea3c40b694b3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a045535707db165c785c2f81e0c5a7398">productIntegralNormalizedWith</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. <a href="#a045535707db165c785c2f81e0c5a7398"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a4aab5d9f54a014431ec31da661ff240c">productIntegralNormalizedWith2D</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. <a href="#a4aab5d9f54a014431ec31da661ff240c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#afb522261f8f61f38f91fb467ea0401ee">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &outSample) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draw a sample from the pdf. <a href="#afb522261f8f61f38f91fb467ea0401ee"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ae1b1764ea119b93d73ee45f01d92e682">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &p2, const double &minMahalanobisDistToDrop=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) <a href="#ae1b1764ea119b93d73ee45f01d92e682"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aa77fd37450bab2ef956f06a7f90f4bdc">mahalanobisDistanceTo</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &other, bool only_2D=false) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0) <a href="#aa77fd37450bab2ef956f06a7f90f4bdc"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#ac8a691da1b29b401d4440d173e25f7a8">getAs3DObject</a> (OPENGL_SETOFOBJECTSPTR &out_obj) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#ac8a691da1b29b401d4440d173e25f7a8"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">OPENGL_SETOFOBJECTSPTR </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#afe846555a245630e84314f1a32ee79cb">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#afe846555a245630e84314f1a32ee79cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">getMean</a> (TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#afc168fcbcba4191a0e64fc2a3b7c4c78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">getCovarianceAndMean</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &<a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">cov</a>, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">cov</a>, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">cov</a>) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &<a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">cov</a>) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">drawManySamples</a> (size_t N, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > &outSamples) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. <a href="#aa437cf2c11cb0e937e851a0f498a4fb2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#ae1aece8c459ffd8eab83ea191791a7e2">is_3D</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#affffb868a8f2d8e928b7e8d8cad73594">is_PDF</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aefcb9bd895c4e21208159e1a73b6a897">mean</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The mean value. <a href="#aefcb9bd895c4e21208159e1a73b6a897"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">cov</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The 3x3 covariance matrix. <a href="#a663896d54dbbf9e87e2765dd454d5291"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a837349901839932fb122a36074583dcb">classCPointPDF</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_gaussian_ptr.html">CPointPDFGaussianPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a3ae000db5be4fb08c8726bd9202f25fb">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#afec049f4bb60e370801ef20b6d63562f">_init_CPointPDFGaussian</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#af5b3203e66bccec0fc7078dd1f909014">classCPointPDFGaussian</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a02b34404729996973a1f64dcfb049f38">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aeca6008a69325b76ce8a381b2607f1ab">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ae9bdbe159d2ca2ff5ad623dc2d0e04c1">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#ae9bdbe159d2ca2ff5ad623dc2d0e04c1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ac4c2c51962f520b5879919cba0a9e206">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#ac4c2c51962f520b5879919cba0a9e206"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a537521b5ee369b3d9d99680ef5b90f41">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_gaussian_ptr.html">CPointPDFGaussianPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a73fd572b7027864a8cd0163bc2fece9a">Create</a> ()</td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a3ae000db5be4fb08c8726bd9202f25fb"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::SmartPtr" ref="a3ae000db5be4fb08c8726bd9202f25fb" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_gaussian_ptr.html">CPointPDFGaussianPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a3ae000db5be4fb08c8726bd9202f25fb">mrpt::poses::CPointPDFGaussian::SmartPtr</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00050">50</a> of file <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">CPointPDFGaussian.h</a>.</p>
</div>
</div>
<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::type_value" ref="ab4d442c6713a2aaac04cf79bee93c251" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef TDATA <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">mrpt::utils::CProbabilityDensityFunction::type_value</a><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The type of the state the PDF represents. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00054">54</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="adc2cdea527fa36d391c678e4485e3a1f"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::@17" ref="adc2cdea527fa36d391c678e4485e3a1f" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1"></a><!-- doxytag: member="is_3D_val" ref="adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1" args="" -->is_3D_val</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00078">78</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
</div>
</div>
<a class="anchor" id="a863a1bda75e5bd233aaa2219eaa7a22c"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::@18" ref="a863a1bda75e5bd233aaa2219eaa7a22c" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598"></a><!-- doxytag: member="is_PDF_val" ref="a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598" args="" -->is_PDF_val</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00080">80</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a189797e21fb5b8893215644407a463a8"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::CPointPDFGaussian" ref="a189797e21fb5b8893215644407a463a8" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPointPDFGaussian::CPointPDFGaussian </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Default constructor. </p>
</div>
</div>
<a class="anchor" id="a1f7260396242ff645b827b7e034bdefb"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::CPointPDFGaussian" ref="a1f7260396242ff645b827b7e034bdefb" args="(const CPoint3D &init_Mean)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPointPDFGaussian::CPointPDFGaussian </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>init_Mean</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor. </p>
</div>
</div>
<a class="anchor" id="aed249a7293c514586c71e2a65ea08305"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::CPointPDFGaussian" ref="aed249a7293c514586c71e2a65ea08305" args="(const CPoint3D &init_Mean, const CMatrixDouble33 &init_Cov)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPointPDFGaussian::CPointPDFGaussian </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>init_Mean</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>init_Cov</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aeca6008a69325b76ce8a381b2607f1ab"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::_GetBaseClass" ref="aeca6008a69325b76ce8a381b2607f1ab" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPointPDFGaussian::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a7ef50e03fcc75c1a10320875609d2a41">mrpt::poses::CPointPDF</a>.</p>
</div>
</div>
<a class="anchor" id="aa98e2fdff4910ed1ed33d428e39bac4f"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::bayesianFusion" ref="aa98e2fdff4910ed1ed33d428e39bac4f" args="(const CPointPDFGaussian &p1, const CPointPDFGaussian &p2)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::bayesianFusion </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p2</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Bayesian fusion of two points gauss. </p>
<p>distributions, then save the result in this object. The process is as follows:<br/>
</p>
<ul>
<li>(x1,S1): Mean and variance of the p1 distribution.</li>
<li>(x2,S2): Mean and variance of the p2 distribution.</li>
<li>(x,S): Mean and variance of the resulting distribution.</li>
</ul>
<p>S = (S1<sup>-1</sup> + S2<sup>-1</sup>)<sup>-1</sup>; x = S * ( S1<sup>-1</sup>*x1 + S2<sup>-1</sup>*x2 ); </p>
</div>
</div>
<a class="anchor" id="ae1b1764ea119b93d73ee45f01d92e682"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::bayesianFusion" ref="ae1b1764ea119b93d73ee45f01d92e682" args="(const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::bayesianFusion </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>p2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>minMahalanobisDistToDrop</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">p1</td><td>The first distribution to fuse </td></tr>
<tr><td class="paramname">p2</td><td>The second distribution to fuse </td></tr>
<tr><td class="paramname">minMahalanobisDistToDrop</td><td>If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. </td></tr>
</table>
</dd>
</dl>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a065f29ccaa7c5a698a8abd1eed356789">mrpt::poses::CPointPDF</a>.</p>
</div>
</div>
<a class="anchor" id="a3bc1166fd0b684fa3ef6267df5b974c3"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::changeCoordinatesReference" ref="a3bc1166fd0b684fa3ef6267df5b974c3" args="(const CPose3D &newReferenceBase)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. </p>
<p>Result PDF substituted the currently stored one in the object. Both the mean value and the covariance matrix are updated correctly. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 ></a>.</p>
</div>
</div>
<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad28b7173e96797d5176b3e8f3af7e036"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::copyFrom" ref="ad28b7173e96797d5176b3e8f3af7e036" args="(const CPointPDF &o)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::copyFrom </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a979b682b56588533c637e56fe18c1064">mrpt::poses::CPointPDF</a>.</p>
</div>
</div>
<a class="anchor" id="a73fd572b7027864a8cd0163bc2fece9a"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::Create" ref="a73fd572b7027864a8cd0163bc2fece9a" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_gaussian_ptr.html">CPointPDFGaussianPtr</a> mrpt::poses::CPointPDFGaussian::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a537521b5ee369b3d9d99680ef5b90f41"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::CreateObject" ref="a537521b5ee369b3d9d99680ef5b90f41" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPointPDFGaussian::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="aa437cf2c11cb0e937e851a0f498a4fb2"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::drawManySamples" ref="aa437cf2c11cb0e937e851a0f498a4fb2" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawManySamples </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
<td class="paramname"><em>outSamples</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. </p>
<p>This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00126">126</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::drawSingleSample" ref="ae8879d10e9d7a6c94211dd0ffffc4c9d" args="(TDATA &outPart) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Draws a single sample from the distribution. </p>
</div>
</div>
<a class="anchor" id="afb522261f8f61f38f91fb467ea0401ee"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::drawSingleSample" ref="afb522261f8f61f38f91fb467ea0401ee" args="(CPoint3D &outSample) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::drawSingleSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>outSample</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Draw a sample from the pdf. </p>
</div>
</div>
<a class="anchor" id="ac4c2c51962f520b5879919cba0a9e206"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::duplicate" ref="ac4c2c51962f520b5879919cba0a9e206" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPointPDFGaussian::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
</div>
</div>
<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac8a691da1b29b401d4440d173e25f7a8"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getAs3DObject" ref="ac8a691da1b29b401d4440d173e25f7a8" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class OPENGL_SETOFOBJECTSPTR > </div>
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDF::getAs3DObject </td>
<td>(</td>
<td class="paramtype">OPENGL_SETOFOBJECTSPTR & </td>
<td class="paramname"><em>out_obj</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00087">87</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
</div>
</div>
<a class="anchor" id="afe846555a245630e84314f1a32ee79cb"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getAs3DObject" ref="afe846555a245630e84314f1a32ee79cb" args="() const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > </div>
<table class="memname">
<tr>
<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00096">96</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
</div>
</div>
<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00089">89</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00098">98</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="a689312caf79ee5268fa913e3fa5c82c0"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovariance" ref="a689312caf79ee5268fa913e3fa5c82c0" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a><double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00107">107</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
</div>
</div>
<a class="anchor" id="a5988bff88667719e545684f5b3f595f8"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovarianceAndMean" ref="a5988bff88667719e545684f5b3f595f8" args="(CMatrixDouble33 &cov, CPoint3D &mean_point) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ab5174a61e9364b320a82ac26ff8e203e" title="Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)">getMean</a> </dd></dl>
</div>
</div>
<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00069">69</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Compute the entropy of the estimated covariance matrix. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a href="http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy">http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00145">145</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="afc168fcbcba4191a0e64fc2a3b7c4c78"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getMean" ref="afc168fcbcba4191a0e64fc2a3b7c4c78" args="(TDATA &mean_point) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovarianceAndMean </dd></dl>
</div>
</div>
<a class="anchor" id="ab5174a61e9364b320a82ac26ff8e203e"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getMean" ref="ab5174a61e9364b320a82ac26ff8e203e" args="(CPoint3D &p) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::getMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) </p>
</div>
</div>
<a class="anchor" id="ad6c0c9844ac63db9c793652e4619c549"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::getMeanVal" ref="ad6c0c9844ac63db9c793652e4619c549" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovariance </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00079">79</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
<a class="anchor" id="ae9bdbe159d2ca2ff5ad623dc2d0e04c1"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::GetRuntimeClass" ref="ae9bdbe159d2ca2ff5ad623dc2d0e04c1" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPointPDFGaussian::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a48133c6b7a483c1d5f4c96b005be22c2">mrpt::poses::CPointPDF</a>.</p>
</div>
</div>
<a class="anchor" id="ae1aece8c459ffd8eab83ea191791a7e2"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::is_3D" ref="ae1aece8c459ffd8eab83ea191791a7e2" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static bool mrpt::poses::CPointPDF::is_3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00079">79</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
</div>
</div>
<a class="anchor" id="affffb868a8f2d8e928b7e8d8cad73594"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::is_PDF" ref="affffb868a8f2d8e928b7e8d8cad73594" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static bool mrpt::poses::CPointPDF::is_PDF </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00081">81</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa77fd37450bab2ef956f06a7f90f4bdc"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo" ref="aa77fd37450bab2ef956f06a7f90f4bdc" args="(const CPointPDFGaussian &other, bool only_2D=false) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>other</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>only_2D</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0) </p>
</div>
</div>
<a class="anchor" id="a045535707db165c785c2f81e0c5a7398"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith" ref="a045535707db165c785c2f81e0c5a7398" args="(const CPointPDFGaussian &p) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. </p>
<p>The resulting number is in the range [0,1] Note that the resulting value is in fact </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ exp( -\frac{1}{2} D^2 ) \]" src="form_47.png"/>
</p>
<p> , with <img class="formulaInl" alt="$ D^2 $" src="form_48.png"/> being the square Mahalanobis distance between the two pdfs. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ae5d63203cbfd0a155ffaf1b4850c6897" title="Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the int...">productIntegralWith</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On errors like covariance matrix with null determinant, etc... </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a4aab5d9f54a014431ec31da661ff240c"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith2D" ref="a4aab5d9f54a014431ec31da661ff240c" args="(const CPointPDFGaussian &p) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. </p>
<p>The resulting number is in the range [0,1]. This versions ignores the "z" coordinate.</p>
<p>Note that the resulting value is in fact </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ exp( -\frac{1}{2} D^2 ) \]" src="form_47.png"/>
</p>
<p> , with <img class="formulaInl" alt="$ D^2 $" src="form_48.png"/> being the square Mahalanobis distance between the two pdfs. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ae5d63203cbfd0a155ffaf1b4850c6897" title="Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the int...">productIntegralWith</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On errors like covariance matrix with null determinant, etc... </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="ae5d63203cbfd0a155ffaf1b4850c6897"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::productIntegralWith" ref="ae5d63203cbfd0a155ffaf1b4850c6897" args="(const CPointPDFGaussian &p) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPointPDFGaussian::productIntegralWith </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. </p>
<p>The resulting number is >=0. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a045535707db165c785c2f81e0c5a7398" title="Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the int...">productIntegralNormalizedWith</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On errors like covariance matrix with null determinant, etc... </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a19bc7c9e2013679cc0ecea3c40b694b3"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::productIntegralWith2D" ref="a19bc7c9e2013679cc0ecea3c40b694b3" args="(const CPointPDFGaussian &p) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPointPDFGaussian::productIntegralWith2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. </p>
<p>The resulting number is >=0. NOTE: This version ignores the "z" coordinates!! </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a045535707db165c785c2f81e0c5a7398" title="Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the int...">productIntegralNormalizedWith</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On errors like covariance matrix with null determinant, etc... </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<a class="anchor" id="a11016538e64e22dc65b564754bb79219"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::saveToTextFile" ref="a11016538e64e22dc65b564754bb79219" args="(const std::string &file) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPointPDFGaussian::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 ></a>.</p>
</div>
</div>
<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CSerializable</a>.</p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="afec049f4bb60e370801ef20b6d63562f"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::_init_CPointPDFGaussian" ref="afec049f4bb60e370801ef20b6d63562f" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#afec049f4bb60e370801ef20b6d63562f">mrpt::poses::CPointPDFGaussian::_init_CPointPDFGaussian</a><code> [static, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00050">50</a> of file <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">CPointPDFGaussian.h</a>.</p>
</div>
</div>
<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
</div>
</div>
<a class="anchor" id="a837349901839932fb122a36074583dcb"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::classCPointPDF" ref="a837349901839932fb122a36074583dcb" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a837349901839932fb122a36074583dcb">mrpt::poses::CPointPDF::classCPointPDF</a><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
</div>
</div>
<a class="anchor" id="af5b3203e66bccec0fc7078dd1f909014"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::classCPointPDFGaussian" ref="af5b3203e66bccec0fc7078dd1f909014" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#af5b3203e66bccec0fc7078dd1f909014">mrpt::poses::CPointPDFGaussian::classCPointPDFGaussian</a><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00050">50</a> of file <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">CPointPDFGaussian.h</a>.</p>
</div>
</div>
<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
</div>
</div>
<a class="anchor" id="a02b34404729996973a1f64dcfb049f38"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::classinfo" ref="a02b34404729996973a1f64dcfb049f38" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a02b34404729996973a1f64dcfb049f38">mrpt::poses::CPointPDFGaussian::classinfo</a><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00050">50</a> of file <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">CPointPDFGaussian.h</a>.</p>
</div>
</div>
<a class="anchor" id="a663896d54dbbf9e87e2765dd454d5291"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::cov" ref="a663896d54dbbf9e87e2765dd454d5291" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291">mrpt::poses::CPointPDFGaussian::cov</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The 3x3 covariance matrix. </p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00071">71</a> of file <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">CPointPDFGaussian.h</a>.</p>
<p>Referenced by <a class="el" href="_c_landmark_8h_source.html#l00090">mrpt::slam::CLandmark::getPose()</a>.</p>
</div>
</div>
<a class="anchor" id="aefcb9bd895c4e21208159e1a73b6a897"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::mean" ref="aefcb9bd895c4e21208159e1a73b6a897" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aefcb9bd895c4e21208159e1a73b6a897">mrpt::poses::CPointPDFGaussian::mean</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The mean value. </p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00067">67</a> of file <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">CPointPDFGaussian.h</a>.</p>
<p>Referenced by <a class="el" href="_c_landmark_8h_source.html#l00090">mrpt::slam::CLandmark::getPose()</a>.</p>
</div>
</div>
<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPointPDFGaussian::state_length" ref="a77a06347b68aa3c08de63c790d88eb12" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const size_t <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">mrpt::utils::CProbabilityDensityFunction::state_length</a><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00053">53</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
</div>
</div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
